Self-Localization of a Biomimetic Robotic Shark Using Tightly Coupled Visual-Acoustic Fusion
文献类型：期刊论文
| 作者 | Huang, Yupei1,2 ; Li, Peng1,2; Yan, Shuaizheng3,4; Tan, Min1,2; Yu, Junzhi1,5; Wu, Zhengxing1,2
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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| 出版日期 | 2024-01-22 |
| 页码 | 11 |
| 关键词 | Robotic fish simultaneous localization and mapping (SLAM) sensor fusion underwater self-localization |
| ISSN号 | 0278-0046 |
| DOI | 10.1109/TIE.2024.3352147 |
| 通讯作者 | Wu, Zhengxing(zhengxing.wu@ia.ac.cn) |
| 英文摘要 | This article proposes a tightly coupled visual-acoustic sensor fusion method for self-localization of a biomimetic robotic shark. To address the decreased localization accuracy of visual-based simultaneous localization and mapping systems employed on a robotic fish in underwater environments, we integrate velocity measurements from the acoustic sensor Doppler velocity log (DVL) into a visual odometry. To fully exploit the local position change information contained in velocity measurements, DVL measurements are fused in two stages of visual tracking. Specifically, we first employ the velocity measurements to improve the initial camera pose estimation during visual tracking, aiming to provide a better initial value for subsequent pose optimization. Thereafter, these velocity measurements are directly employed to constrain the camera position change between two adjacent frames by constructing a DVL residual term, which is optimized jointly with the visual residual to obtain a more accurate camera pose. Extensive experiments are conducted on both self-collected simulated datasets and real-world underwater datasets. Experimental results demonstrate that the proposed visual-acoustic fusion method can effectively improve the localization accuracy for the robotic shark by more than 50% compared to a pure visual system, providing valuable guidance for improving the autonomous localization capability of underwater biomimetic robots. |
| WOS关键词 | SLAM |
| 资助项目 | Beijing Natural Science Foundation |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:001167375500001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Beijing Natural Science Foundation |
| 源URL | [http://ir.ia.ac.cn/handle/173211/57829]  |
| 专题 | 复杂系统管理与控制国家重点实验室_水下机器人 |
| 通讯作者 | Wu, Zhengxing |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 3.Fuzhou Univ, Dept Mech Engn, Fuzhou 350000, Peoples R China 4.Chinese Acad Sci, Lab Cognit & Decis Intelligence Complex Syst, Inst Automat, Beijing 100190, Peoples R China 5.Peking Univ, Coll Engn, Beijing Innovat Ctr Engn Sci & Adv Technol B ESAT, Dept Mech & Engn Sci, Beijing 100871, Peoples R China |
| 推荐引用方式 GB/T 7714 | Huang, Yupei,Li, Peng,Yan, Shuaizheng,et al. Self-Localization of a Biomimetic Robotic Shark Using Tightly Coupled Visual-Acoustic Fusion[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2024:11. |
| APA | Huang, Yupei,Li, Peng,Yan, Shuaizheng,Tan, Min,Yu, Junzhi,&Wu, Zhengxing.(2024).Self-Localization of a Biomimetic Robotic Shark Using Tightly Coupled Visual-Acoustic Fusion.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,11. |
| MLA | Huang, Yupei,et al."Self-Localization of a Biomimetic Robotic Shark Using Tightly Coupled Visual-Acoustic Fusion".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2024):11. |
入库方式： OAI收割
来源：自动化研究所
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